#ifndef _STEREO_CAMERA_PARAMETER_H_DCC

#define _STEREO_CAMERA_PARAMETER_H_DCC

#include <list>

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/opencv.hpp>
class stereoCameraParameters{
public:
    cv::Mat leftRgbK;//distort image
    cv::Mat rightRgbK;//distort image
    cv::Mat leftRgbDistion;//distort image
    cv::Mat rightRgbDistion;//distort image

    cv::Mat leftKafterUndistort; //undistort image
    cv::Mat rightKafterUndistort;//undistort image

    cv::Mat left2RightT;//distort image

    int rgb_width;//distort image
    int rgb_height;//distort image

    int rgb_width_undistort;//undistort image
    int rgb_height_undistort;//undistort image

    cv::Mat depthK;//undistort image
    int depth_width;
    int depth_height;
};
class stereoCameraParametersNew{
    public:
    int origin_width;
    int origin_height;
    int undistortion_width;
    int udistortion_height;

    float depthparam_param_after_rotate[5];//undistort image
    int depth_width;
    int depth_height;

    float left_instrinsics[8]; //k1 k2 k3 k4 fx fy cx cy
    float left_instrinsics_undis[4];//fx fy cx cy

    float right_instrinsics[8]; //k1 k2 k3 k4 fx fy cx cy
    float right_instrinsics_undis[4];//fx fy cx cy 

    float left2right_origin[16];
    };

#endif
